| کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
|---|---|---|---|---|
| 758123 | 1462612 | 2016 | 13 صفحه PDF | دانلود رایگان |
کلمات کلیدی
1.مقدمه
2. دینامیک هواپیما
3. الگوریتم کنترلی
4. اضافه نمودن نویز و فیلترینگ
5. مطالعه موردی: فرود خودکار از طریق سیستم LADAR
5.1 مدل مشاهده LADAR
5.2 فرایند فرود
5.3 شبیه‌سازی‌ها
جدول 1. پارامترها برای فرود پهپاد لامبدا در سطح دریا (مرجع 19)
6. نتیجه‌گیری
ضمیمه
• Control of fixed-wing UAVs in the presence of stochastic wind is proposed.
• An extended Kalman filter is proposed for state estimation and noise filtering.
• A case study of landing the UAV on a ship deck is included.
• UAV’s state relative to the vessel is estimated via LADAR measurements.
This paper studies the control of fixed-wing unmanned aerial vehicles (UAVs) in the presence of stochastic winds. A nonlinear controller is designed based on a full nonlinear mathematical model that includes the stochastic wind effects. The air velocity is controlled exclusively using the position of the throttle, and the rest of the dynamics are controlled with the aileron, elevator, and rudder deflections. The nonlinear control design is based on a smooth approximation of a sliding mode controller. An extended Kalman filter (EKF) is proposed for the state estimation and filtering. A case study is presented: landing control of a UAV on a ship deck in the presence of wind based exclusively on LADAR measurements. The effectiveness of the nonlinear control algorithm is illustrated through a simulation example.
Journal: Communications in Nonlinear Science and Numerical Simulation - Volume 33, April 2016, Pages 57–69